适配POPF时间规划器时PDDL域/问题文件报错求助

问题背景 #

基于TBM2示例编写PDDL域文件和问题文件，适配时间规划器POPF，运行命令rosrun rosplan_planning_system popf new.domain.pddl new_problem.pddl时出现报错，无法完成规划。

域文件（new.domain.pddl） #

; Specification in PDDL1 of the rockin TBM2 drill test domain
; author : Oscar Lima, olima_84@yahoo.com

(define (domain idmind_agent)

(:requirements :strips :typing :fluents :negative-preconditions :disjunctive-preconditions :durative-actions )

(:types 
  location            ; locations in the arena, points of interest
  robot               ; your amazing yet powerful robot
  object              ; objects to be manipulated by the robot
  gripper             ; robot gripper
  robot_platform      ; platform slots for the robot to store objects
)

(:predicates

  ; robot ?r is at location ?l
  (at ?r - robot ?l - location)       
  ; object ?o is on location ?l
  (on ?o - object ?l - location)
  ; object ?o is stored on robot platform ?rp
  (stored ?o - object ?rp - robot_platform)   
  ; robot platform ?rp is occupied, yb has 3 free places to store objects
  (occupied ?rp - robot_platform)
  ; gripper ?g is holding object ?o
  (holding ?g - gripper ?o - object)
  ; gripper ?g is free (does not contain object)
  (gripper_is_free ?g - gripper)

)


; moves a robot ?r from ?source - location to a ?destination - location
; NOTE : the situation in which the robot arm is in any position before moving 
; is not handled at the planning level, hence we advise to always move the arm 
; to a folded position, then navigate
(:durative-action move_base
   :parameters (?source ?destination - location ?r - robot ?g - gripper)
   :duration (= ?duration 1)
   :condition (and (at start (at ?r ?source))
                   (over all (gripper_is_free ?g))
                 )
   :effect (and 
                  (at start (not (at ?r ?source)))
                  (at end (at ?r ?destination))
           )
)

; pick an object ?o which is inside a location ?l with a free gripper ?g 
; with robot ?r that is at location ?l
(:durative-action pick                                
   :parameters (?o - object ?l - location ?r - robot ?g - gripper)
   :duration (= ?duration 1)    
   :condition     (and    (at start (on ?o ?l))
                          (over all (at ?r ?l))
                          (at start (gripper_is_free ?g))
                  )
   :effect (and   (at end (holding ?g ?o)) 
                  (at start (not (on ?o ?l)))
                  (at start (not (gripper_is_free ?g)))
           )
)

; stage an object ?o in a robot platform ?rp which is not occupied with a gripper ?g 
; which is holding the object ?o
(:durative-action stage
   :parameters (?o - object ?rp - robot_platform ?g - gripper)
   :duration (= ?duration 1)
   :condition     (and    (at start (holding ?g ?o))
                          (at start (not (occupied ?rp)))
                          (at start (not (gripper_is_free ?g)))
                  )
   :effect (and   (at start (not (holding ?g ?o)))
                  (at start (gripper_is_free ?g))
                  (at start (stored ?o ?rp))
                  (at start (occupied ?rp))
           )
)

; unstage an object ?o stored on a robot platform ?rp with a free gripper ?g
(:durative-action unstage
   :parameters (?o - object ?rp - robot_platform ?g - gripper)
   :duration (= ?duration 1)
   :condition     (and    (at start (gripper_is_free ?g))
                          (at start (stored ?o ?rp))
                          (at start (not (holding ?g ?o)))
                  )
   :effect (and   (at start (not (gripper_is_free ?g)))
                  (at start (not (stored ?o ?rp)))
                  (at start (not (occupied ?rp)))
                  (at start(holding ?g ?o))
           )
)

; places and object ?o with a gripper ?g which is holding the object ?o
; with a robot ?r at a location ?l on robot_platform ?rp
(:durative-action drop_on_platform
   :parameters (?o - object ?l - location ?g - gripper ?r - robot ?rp - robot_platform)
   :duration (= ?duration 1)
   :condition     (and    (over all (at ?r ?l))
                          (at start (holding ?g ?o))
                          (at start (not (stored ?o ?rp)))
                  )
   :effect (and   (at end (gripper_is_free ?g))   ; the gripper is free
                  (at end (on ?o ?l))             ; object is now on location l
                  (at start (not (holding ?g ?o)))    ; the gripper is no longer holding the object
           )
)

)

问题文件（new_problem.pddl） #

(define (problem problem_1)

(:domain idmind_agent)

(:objects 
   dock S1 S2 S3 S4 S5 - location
   platform_middle platform_left platform_right - robot_platform
   idmind - robot
   o1 o2 - object
   robotiq - gripper
)

(:init 
   (at idmind dock)
   (on o1 S2)
   (on o2 S2)
(not (occupied platform_middle))
(not (occupied platform_left))
(not (occupied platform_right))
(gripper_is_free robotiq)
) 

(:goal
      (and  
            (on o1 S1)
            (on o2 S4)
      )
)

)

报错信息 #

rosrun rosplan_planning_system popf new.domain.pddl new_problem.pddl
Critical Errors Encountered in Domain/Problem File
--------------------------------------------------

Due to critical errors in the supplied domain/problem file, the planner
has to terminate.  The errors encountered are as follows:

Errors: 1, warnings: 9
new_problem.pddl: line: 11: Warning: Undeclared requirement :typing 
new_problem.pddl: line: 11: Warning: Undeclared requirement :typing 
new_problem.pddl: line: 11: Warning: Undeclared requirement :typing 
new_problem.pddl: line: 11: Warning: Undeclared requirement :typing 
new_problem.pddl: line: 11: Warning: Undeclared requirement :typing 
new_problem.pddl: line: 14: Warning: Undeclared symbol: at
new_problem.pddl: line: 15: Warning: Undeclared symbol: on
new_problem.pddl: line: 17: Warning: Undeclared symbol: occupied
new_problem.pddl: line: 20: Warning: Undeclared symbol: gripper_is_free
new_problem.pddl: line: 30: Error: Syntax error in problem file - types used, but no :types section in domain file.

错误原因分析 #

1. 核心错误：POPF未正确加载域文件的:types定义
   报错提示“types used, but no :types section in domain file”，但域文件明确包含:types块，大概率是域文件路径错误或POPF读取域文件失败。比如命令中指定的new.domain.pddl路径不正确，或者文件损坏，导致POPF无法解析域文件的类型和谓词定义，进而将问题文件中的所有类型引用、谓词都判定为未声明。

2. 关联警告的根源
   所有“未声明要求:typing”“未声明符号”的警告，都是核心错误引发的连锁反应——POPF没读到域文件内容，无法识别问题文件中使用的类型、谓词。

解决办法 #

步骤1：验证文件路径与完整性 #

• 确认new.domain.pddl和new_problem.pddl都在当前工作目录下，运行命令前先执行ls检查文件是否存在。
• 打开new.domain.pddl，确认:types块、:predicates块没有缺失或语法错误（比如括号不匹配）。

步骤2：修复域文件潜在语法问题 #

修正unstage动作效果中的语法错误：(at start(holding ?g ?o))缺少空格，改为(at start (holding ?g ?o))。

步骤3：调整命令执行方式 #

• 如果文件不在当前目录，使用绝对路径指定文件，例如：

  rosrun rosplan_planning_system popf /full/path/to/new.domain.pddl /full/path/to/new_problem.pddl
  

• 单独测试域文件是否能被POPF解析：先只传入域文件，确认域文件本身无语法问题。

步骤4：确认问题文件的一致性 #

确保问题文件中引用的域idmind_agent与域文件中定义的(define (domain idmind_agent))完全一致（大小写敏感）。

内容的提问来源于stack exchange，提问作者RB_Code